Adaptive positioning and grabbing device for non-standard part machining and industrial robot

Abstract

The application discloses a self-adaptive positioning and grabbing device for non-standard part machining and an industrial robot, and relates to the technical field of robots, comprising a base, a grabbing assembly and a lifting assembly, wherein the grabbing assembly comprises a mounting seat, an inverted taper part arranged at the bottom of the mounting seat, at least one positioning groove and at least one suction part; the mounting seat is movably arranged on the base so as to adjust the orientation relative to the base; the mounting seat and the base are further provided with a positioning structure; the opening of the positioning groove faces downward; and the lifting assembly is arranged on the base and connected with the mounting seat. According to the self-adaptive positioning and grabbing device for non-standard part machining, the non-standard part can be repositioned after being adaptively adjusted and tightly sucked when the non-standard part is grabbed, so that the non-standard part can be accurately transferred to the next station.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically an adaptive positioning and gripping device and industrial robot for processing non-standard parts. Background Technology

[0002] Non-standard parts refer to components that lack universality and interchangeability, and usually need to be processed according to specific product designs or manufacturing processes.

[0003] For example, a non-standard connecting ear includes an ear base and two ear plates arranged side by side on the ear base, and both the ear base and the ear plates also have mounting holes. In its manufacturing process, the two ear plates are first fixedly connected to the ear base by welding or casting, then the next process is to process the mounting holes, and finally the process is to perform grinding or polishing.

[0004] However, due to the lack of dedicated gripping devices, the material cannot be transferred by robotic arms and must be loaded and unloaded manually. This limits the accuracy and speed of loading and unloading, affecting production and causing high labor intensity. This problem urgently needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive positioning gripping device and industrial robot for non-standard parts processing. When gripping non-standard parts, the device can adaptively adjust and firmly grasp the non-standard parts before repositioning them to accurately transfer them to the next work station. This reduces manual labor intensity and costs, and improves production efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides an adaptive positioning gripping device for machining non-standard parts, the non-standard part including an ear base and two ear plates, the two ear plates being arranged side by side on the same side of the ear base, the adaptive positioning gripping device for machining non-standard parts comprising:

[0008] Base;

[0009] The gripping component includes a mounting base, an inverted conical part disposed at the bottom of the mounting base, at least one positioning groove, and at least one suction member. The mounting base is movably disposed on a base to adjust its orientation relative to the base, and an elastic reset component is provided between the mounting base and the base to keep the mounting base in its initial position. The mounting base and the base are also provided with a positioning structure, and the opening of the positioning groove faces downward.

[0010] The lifting component is mounted on the base and connected to the mounting base. The base is driven to move close to the non-standard part to a preset position, so that the inverted cone part is inserted between the two ear plates, and the upper side of part of the inverted cone part abuts against the adjacent ear plate, and the positioning groove abuts against the two inclined surfaces of the ear plate. The suction component abuts against and is clamped to the upper surface of the ear plate. The lifting component then drives the mounting base to move upward, so that the mounting base and the base are positioned by the positioning structure, so that the base can move to the next station.

[0011] As a further embodiment of the present invention: the base has a mounting cavity, and the bottom of the mounting cavity has a through hole; a connecting shaft is connected to the upper end of the mounting base, and the connecting shaft is coaxial with the inverted tapered part;

[0012] The upper end of the connecting shaft passes through the through hole and connects to the connecting seat in the mounting cavity. The connecting shaft moves in the horizontal plane relative to the through hole, moves along the vertical axis, and rotates about the vertical axis. The connecting seat is connected to the mounting seat through an elastic reset component to keep the mounting seat in its initial position.

[0013] As a further embodiment of the present invention: the elastic reset assembly includes a plurality of tension springs, each tension spring being arranged at circumferential intervals along the connecting seat, with one end of the tension spring connected to the connecting seat and the other end of the tension spring connected to the base.

[0014] As a further embodiment of the present invention: when the mounting base is held in the initial position, the bottom of the connecting base abuts against the bottom surface of the mounting cavity.

[0015] As a further embodiment of the present invention: the positioning structure includes a matching positioning hole and a positioning protrusion, the positioning hole being located on the base at the top of the mounting cavity, and the positioning protrusion being located at the upper end of the connecting seat;

[0016] When the lifting component drives the mounting base to move upward, the positioning protrusion and the positioning hole are positioned and connected.

[0017] As a further embodiment of the present invention: the lifting component includes a driving member and a connecting member, wherein the driving member is disposed on a base above the positioning hole;

[0018] The connector passes through the positioning hole, with its upper end connected to the driving end of the driving component and its lower end connected to the positioning protrusion.

[0019] The driving component pulls the connecting component upward through the connecting component, so that the positioning protrusion is positioned with the positioning hole.

[0020] As a further embodiment of the present invention: the connector is an elastic member, and the driving member uses the elastic member to tighten the positioning protrusion with a preset elastic force.

[0021] As a further embodiment of the present invention: the cross-sections of the positioning hole and the positioning protrusion are both regular polygons, and they are arranged to increase in size from top to bottom.

[0022] As a further aspect of the present invention, it also includes:

[0023] A visual inspection unit, located at the lower end of the inverted cone component, is used to detect the orientation of non-standard parts.

[0024] Secondly, the present invention provides an industrial robot, including a robot body, a robotic arm on the robot body, and an adaptive positioning and gripping device for non-standard parts processing provided in any of the first aspects on the robotic arm, wherein the actuator of the robotic arm is connected to a base.

[0025] The present invention provides an adaptive positioning gripping device and an industrial robot for non-standard parts processing, which has at least the following technical advantages: the adaptive positioning gripping device for non-standard parts processing includes a base, a gripping assembly, and a lifting assembly. The gripping assembly includes a mounting base, an inverted conical component disposed at the bottom of the mounting base, at least one positioning groove, and at least one suction component. The mounting base is movably disposed on the base and can move horizontally relative to the base, move along a vertical axis, and rotate about a vertical axis to adjust its orientation relative to the base. An elastic support is provided between the mounting base and the base. The mounting component is used to keep the mounting base in its initial position. The mounting base and the base are also equipped with a positioning structure. The opening of the positioning groove faces downward. The lifting component is set on the base and connected to the mounting base. The base is driven to move close to the non-standard part to the preset position, so that the inverted cone part is inserted between the two ear plates, and part of the upper side of the inverted cone part abuts against the adjacent ear plate. The positioning groove abuts against the two inclined surfaces of the ear plate. The suction component abuts against and is sucked tight against the upper surface of the ear base. Then, the lifting component drives the mounting base to move upward, so that the mounting base and the base are positioned by the positioning structure, so that the base can move to the next station.

[0026] Therefore, the adaptive positioning gripping device for non-standard parts processing provided by the present invention, when gripping non-standard parts, as the inverted conical part contacts the two ear plates and the positioning groove contacts the inclined surfaces on both sides of the ear plates, the mounting base is forced to move or rotate relative to the base, making adaptive adjustments and being clamped by the suction component. After repositioning between the mounting base and the base, the non-standard part is basically in the ideal clamping position so as to accurately transfer it to the next work station, which greatly improves the success rate of gripping and positioning, and replaces manual transfer, thereby reducing the intensity and cost of manual labor and improving production efficiency. Attached Figure Description

[0027] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of the structure of a non-standard component in the prior art;

[0029] Figure 2This is a schematic diagram of the adaptive positioning and gripping device for non-standard parts processing provided in an embodiment of the present invention;

[0030] Figure 3 for Figure 2 A sectional view along section AA;

[0031] Figure 4 for Figure 2 A sectional view along section BB;

[0032] Figure 5 This is a schematic diagram of the adaptive positioning and gripping device for non-standard parts processing provided in an embodiment of the present invention in use.

[0033] Figure label:

[0034] 10. Ear base; 20. Ear plate; 30. Mounting hole;

[0035] 100. Base; 101. Positioning hole; 102. Mounting cavity; 103. Through hole; 110. Elastic reset assembly;

[0036] 200. Gripping component; 201. Positioning protrusion; 210. Mounting base; 211. Connecting shaft; 212. Connecting base; 220. Inverted tapered part; 230. Positioning groove; 240. Suction component;

[0037] 300. Lifting component; 310. Drive component; 320. Connector;

[0038] 400. Visual inspection unit. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0042] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, and not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0045] like Figure 1 As shown, existing non-standard parts (such as connecting ears) include an ear base 10 and two ear plates 20. The two ear plates 20 are arranged side by side on the same side of the ear base 10. The two ear plates 20 are of equal size, and their two sides are inclined and symmetrically arranged, so that the cross-section of the ear plate 20 gradually increases from top to bottom. The ear base 10 has four mounting holes 30, and each ear plate 20 has one mounting hole 30. First, the two ear plates 20 are fixedly connected to the ear base 10 by welding or casting. Second, the mounting holes 30 need to be processed in the next process. Finally, the parts are ground or polished. Because they are non-standard parts, a dedicated gripping device needs to be redesigned in order to allow for loading and unloading by a robotic arm.

[0046] Firstly, please refer to Figures 2 to 5 As shown, this embodiment of the invention provides an adaptive positioning gripping device for non-standard parts processing, including a base 100, a gripping component 200, and a lifting component 300.

[0047] The gripping component 200 includes a mounting base 210, an inverted cone 220 disposed at the bottom of the mounting base 210, at least one positioning groove 230, and at least one suction member 240. The mounting base 210 is movably disposed on the base 100 to adjust its orientation relative to the base 100. An elastic reset component 110 is provided between the mounting base 210 and the base 100 to keep the mounting base 210 in its initial position. The mounting base 210 and the base 100 are also provided with a positioning structure, and the opening of the positioning groove 230 faces downward.

[0048] The lifting assembly 300 is mounted on the base 100 and connected to the mounting base 210. The base 100 is driven to move closer to the non-standard part to a preset position, causing the inverted cone 220 to insert between the two ear plates 20, with a portion of the upper side of the inverted cone 220 abutting against the adjacent ear plate 20, and the positioning groove 230 abutting against the two inclined surfaces of the ear plate 20. The suction member 240 abuts against and is held in place by the upper surface of the ear base 10. The lifting assembly 300 then drives the mounting base 210 upwards, positioning it against the base 100 via a positioning structure, allowing the base 100 to move to the next workstation.

[0049] In this embodiment, the base 100 is used to provide an installation base, which may be a rotary base, a housing, etc., and is used to install at least the gripping component 200 and the lifting component 300.

[0050] The gripping component 200 in this embodiment includes a mounting base 210, an inverted cone 220, at least one positioning groove 230, and at least one suction component 240. The mounting base 210 can be a rotary seat, a housing, etc., and is disposed at the bottom of the mounting base 210. It can move horizontally relative to the base 100, as well as move along the vertical axis and rotate about the vertical axis (e.g., along the vertical axis). Figure 2 (Movement along the Y-axis and rotation around the Y-axis).

[0051] An elastic reset component 110 is provided between the mounting base 210 and the base 100 to keep the mounting base 210 in its initial position, such as the intermediate position. The mounting base 210 and the base 100 also have positioning structures, such as positioning protrusions and positioning grooves, so that the mounting base 210 can move upwards and connect with the base 100 for positioning, repositioning the gripping component 200 to the ideal position. Furthermore, the inverted cone component 220 is used for lateral pre-positioning between the two ear seats 10; its upper end is connected to the mounting base 210, with the smaller end facing downwards, and its outer layer can be provided with a wear-resistant layer. The positioning groove 230 is used for positioning against the inclined surfaces on both sides of the ear plate 20; it can be a V-shaped groove with its opening facing downwards. The suction component 240 is used to suction the ear seat 10; it can be a negative pressure suction component.

[0052] It should be noted that, in order to further ensure the accuracy of positioning, a positioning groove 230 can be provided on each side of the inverted conical part 220. In order to further ensure the stability of the suction ear seat 10, at least one suction element 240 can be provided on each side of the inverted conical part 220, and a positioning groove 230 corresponds between the suction element 240 and the inverted conical part 220.

[0053] In this embodiment, the lifting component 300 is used to drive the mounting base 210 to move up and down a short distance. It can be a telescopic component, a retractable component, etc. The lifting component 300 is mounted on the base 100, and its driving end is connected to the mounting base 210.

[0054] Specifically, non-standard parts can be conveyed to the loading position via a stepping or continuous conveyor belt, and the base 100 can be mounted on the actuator of the robotic arm, such as... Figure 5 As shown in (a), the drive base 100 moves close to the non-standard part to a preset position, causing the inverted cone 220 to be inserted between the two ear plates 20, with a portion of the upper side of the inverted cone 220 abutting against the adjacent ear plate 20, and the positioning groove 230 abutting against the two inclined surfaces of the ear plate 20, as shown in (a). Figure 5 As shown in (b), it is worth noting that if the non-standard part is not in the ideal position, that is, there is a slight misalignment between it and the inverted cone 220 and the positioning groove 230, in the early stage of the downward pressure of the inverted cone 220 and the positioning groove 230, the non-standard part can be driven to move or deflect in the horizontal plane. In the later stage of the downward pressure of the inverted cone 220 and the positioning groove 230, as the pressure increases, the non-standard part will not move due to increased friction with the conveyor belt. At this time, the inverted cone 220 and the positioning groove 230 will force the mounting base 210 to move in the horizontal plane relative to the base 100 and rotate around the vertical axis. After adjustment, it should be abutted and tightened against the upper surface of the ear seat 10 by the suction member 240. Finally, the mounting base 210 is driven to move upward by the lifting assembly 300. Figure 5 As shown in (c), the mounting base 210 and the base 100 are positioned by a positioning structure, and the non-standard part is positioned in the ideal clamping position so that the base 100 can move to the next station.

[0055] Therefore, the adaptive positioning gripping device for non-standard parts processing provided in this embodiment of the invention, when gripping non-standard parts, as the inverted cone 220 contacts the two ear plates 10 and the positioning groove 230 contacts the inclined surfaces on both sides of the ear plates 10, the mounting base 210 is forced to move or rotate relative to the base 100 for adaptive adjustment and is then gripped by the suction member 240. After repositioning between the mounting base 210 and the base 100, the non-standard parts are basically in the ideal clamping position so that they can be accurately transferred to the next work station, which greatly improves the success rate of gripping and positioning, and replaces manual transfer, thereby reducing the intensity and cost of manual labor and improving production efficiency.

[0056] In some embodiments, the base 100 has a mounting cavity 102, and the bottom of the mounting cavity 102 has a through hole 103. The upper end of the mounting base 210 is connected to a connecting shaft 211, which is coaxial with the inverted tapered member 220.

[0057] The upper end of the connecting shaft 211 passes through the through hole 103 and is connected to the connecting seat 212 in the mounting cavity 102. The connecting shaft 211 moves in the horizontal plane relative to the through hole 103 and moves along the vertical axis and rotates about the vertical axis. The connecting seat 212 is connected to the mounting seat 210 through the elastic reset assembly 110 so that the mounting seat 210 is held in the initial position.

[0058] Specifically, such as Figures 2-4 As shown, the structure inside the mounting cavity 102 is used to install the connecting seat 212. The connecting shaft 211 at the upper end of the mounting seat 210 is vertically arranged and coaxial with the inverted tapered part 220. The diameter of the connecting shaft 211 is smaller than the diameter of the through hole 103. The upper end of the connecting shaft 211 has a connecting seat 212. The outer dimensions of the connecting seat 212 are larger than the diameter of the through hole 103, that is, the connecting seat 212 cannot pass through the through hole 103. The connecting shaft 211 can move in the horizontal plane relative to the through hole 103, as well as move along the vertical axis and rotate around the vertical axis. The elastic reset component 110 connects the connecting seat 212 and the mounting seat 210 respectively, so that the mounting seat 210 can return to the initial position and not move randomly, thus avoiding affecting the gripping.

[0059] Furthermore, in this embodiment, the elastic reset assembly 110 includes a plurality of tension springs, each tension spring being arranged circumferentially at intervals along the connecting seat 212, with one end of the tension spring connected to the connecting seat 212 and the other end of the tension spring connected to the base 100.

[0060] Specifically, such as Figure 2 , Figure 4 As shown, at least two tension springs are evenly distributed along the circumference of the connecting seat 212. One end of the tension spring is hooked to the outer wall of the connecting seat 212, and the other end of the tension spring is hooked to the inner wall of the base 100. The structure is simple and easy to install.

[0061] Furthermore, in this embodiment, when the mounting base 210 is held in the initial position, the bottom of the connecting base 212 abuts against the inner bottom surface of the mounting cavity 102.

[0062] In this way, such as Figure 2 As shown, the mounting base 210 can be elastically constrained on the bottom surface inside the mounting cavity 102 to prevent the mounting base 210 from moving arbitrarily, making it easier to accurately control the initial height of the gripping component 200 and making it more stable.

[0063] In some embodiments, the positioning structure includes a matching positioning hole 101 and a positioning protrusion 201, the positioning hole 101 being located on the base 100 at the top of the mounting cavity 102, and the positioning protrusion 201 being located at the upper end of the connecting seat 212.

[0064] When the lifting component 300 drives the mounting base 210 to move upward, the positioning protrusion 201 is positioned and connected with the positioning hole 101.

[0065] For example, such as Figure 2 , Figure 4 As shown, the cross-sections of the positioning hole 101 and the positioning protrusion 201 are both regular polygons, and they are arranged to increase in size from top to bottom. The positioning hole 101 is located on the base 100 on the top surface of the mounting cavity 102, and the positioning protrusion 201 is located at the upper end of the connecting seat 212.

[0066] When the lifting component 300 drives the mounting base 210 to move upward, the positioning protrusion 201 is positioned and connected with the positioning hole 101. That is, when the mounting base 210 is held in the initial position, there is a preset distance between the positioning protrusion 201 and the positioning hole 101, which can be determined according to actual needs.

[0067] Furthermore, in this embodiment, the lifting component 300 includes a driving member 310 and a connecting member 320, with the driving member 310 disposed on the base 100 above the positioning hole 101.

[0068] The connector 320 is inserted into the positioning hole 101. The upper end of the connector 320 is connected to the driving end of the driving member 310, and the lower end of the connector 320 is connected to the positioning protrusion 201.

[0069] The driving component 310 pulls the connecting component 320 upward through the connecting component 320 so that the positioning protrusion 201 is positioned with the positioning hole 101.

[0070] Specifically, such as Figure 2 As shown, the drive component 310 can be a telescopic rod, a retractor, etc., and is mounted on the base 100 above the positioning hole 101. A mounting groove can also be formed at the upper end of the base 100 to house the drive component 310. The connector 320 passes through the positioning hole 101, with its upper end connected to the drive end of the drive component 310 and its lower end connected to the positioning protrusion 201.

[0071] In this way, the drive member 310 pulls the connector 320 upward through the connector 320 so that the positioning protrusion 201 is positioned with the positioning hole 101.

[0072] Furthermore, in this embodiment, the connector 320 is an elastic element, and the drive element 310 uses the elastic element to tighten the positioning protrusion 201 with a preset elastic force.

[0073] This configuration serves two purposes: firstly, when the drive component 310 is not in use, the connector 320 does not interfere with the adaptive adjustment of the mounting base 210; secondly, it avoids excessive tension on the drive component 310, thus providing a buffering and protective function.

[0074] In some embodiments, the adaptive positioning gripping device for non-standard parts processing provided in this embodiment further includes:

[0075] A visual inspection unit 400 is located at the lower end of the inverted cone 220 and is used to detect the orientation of non-standard parts.

[0076] Specifically, such as Figure 3 As shown, the vision inspection unit 400 can be an industrial camera, camera unit, etc., which can be embedded in the inverted cone part 220 with the shooting direction facing downwards. In this way, it can assist in detecting the position of non-standard parts, so that the gripping component 200 can be more accurately positioned above the non-standard parts. The specific model and position of the vision inspection unit 400 can be determined according to actual needs, and are not specifically limited in this embodiment.

[0077] Secondly, embodiments of the present invention also provide an industrial robot, including a robot body, a robotic arm on the robot body, an adaptive positioning and gripping device for non-standard parts processing as described in any of the above embodiments, and the execution end of the robotic arm is connected to the base 100.

[0078] Specifically, the robot body can be equipped with multiple free manipulators. The execution end of the manipulators can be connected to the upper end of the base 100 by means of screwing, welding, snap-fitting, etc., and the gripping component 200 is facing downward, so as to realize the gripping and transfer of non-standard parts.

[0079] Therefore, the industrial robot provided in this embodiment of the invention, when grasping non-standard parts, forces the mounting base 210 to move or rotate relative to the base 100 as the inverted cone 220 contacts the two ear plates 10 and the positioning groove 230 contacts the inclined surfaces on both sides of the ear plates 10, thereby making adaptive adjustments and clamping it with the suction member 240. After repositioning between the mounting base 210 and the base 100, the non-standard parts are basically in the ideal clamping position so that they can be accurately transferred to the next work station, which greatly improves the success rate of grasping and positioning, and replaces manual transfer, thereby reducing the intensity and cost of manual labor and improving production efficiency.

[0080] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An adaptive positioning and gripping device for non-standard parts processing, characterized in that, include: Base (100); The gripping component (200) includes a mounting base (210), an inverted cone (220) disposed at the bottom of the mounting base (210), at least one positioning groove (230), and at least one suction member (240). The mounting base (210) is movably disposed on the base (100) to adjust its orientation relative to the base (100). The mounting base (210) and the base (100) are also provided with positioning structures, and the opening of the positioning groove (230) faces downward. A lifting assembly (300) is disposed on the base (100) and connected to the mounting base (210); the base (100) is driven to move closer to the non-standard part to a preset position, so that the inverted cone (220) is inserted between the two ear plates (20), and part of the upper side of the inverted cone (220) abuts against the adjacent ear plate (20), and the positioning groove (230) abuts against the two inclined surfaces of the ear plate (20); the suction member (240) abuts against and is sucked tight to the upper surface of the ear seat (10); then the lifting assembly (300) drives the mounting base (210) to move upward, so that the mounting base (210) and the base (100) are positioned by the positioning structure, so that the base (100) can move to the next station; The base (100) has a mounting cavity (102), and the bottom of the mounting cavity (102) has a through hole (103); the upper end of the mounting base (210) is connected to a connecting shaft (211), and the connecting shaft (211) is coaxial with the inverted tapered part (220); The upper end of the connecting shaft (211) passes through the through hole (103) and is connected to the connecting seat (212) in the mounting cavity (102). The connecting shaft (211) moves in the horizontal plane relative to the through hole (103), moves along the vertical axis, and rotates about the vertical axis. The connecting seat (212) is connected to the mounting seat (210) through the elastic reset assembly (110) so that the mounting seat (210) is held in the initial position. The positioning structure includes a matching positioning hole (101) and a positioning protrusion (201), the positioning hole (101) being located on the base (100) at the top of the mounting cavity (102), and the positioning protrusion (201) being located at the upper end of the connecting seat (212); When the lifting component (300) drives the mounting base (210) to move upward, the positioning protrusion (201) is positioned and connected to the positioning hole (101); The lifting assembly (300) includes a drive member (310) and a connector (320), wherein the drive member (310) is disposed on the base (100) above the positioning hole (101); The connector (320) passes through the positioning hole (101), the upper end of the connector (320) is connected to the driving end of the driving member (310), and the lower end of the connector (320) is connected to the positioning protrusion (201). The drive member (310) pulls the connector (320) upward through the connector (320) so that the positioning protrusion (201) is positioned with the positioning hole (101).

2. The adaptive positioning gripping device for non-standard parts processing according to claim 1, characterized in that, The elastic reset assembly (110) includes a plurality of tension springs, each of which is arranged circumferentially at intervals along the connecting seat (212), with one end of the tension spring connected to the connecting seat (212) and the other end of the tension spring connected to the base (100).

3. The adaptive positioning gripping device for non-standard parts processing according to claim 2, characterized in that, When the mounting base (210) is held in the initial position, the bottom of the connecting base (212) abuts against the bottom surface of the mounting cavity (102).

4. The adaptive positioning and gripping device for non-standard parts processing according to claim 1, characterized in that, The connector (320) is an elastic element, and the drive element (310) uses the elastic element to tighten the positioning protrusion (201) with a preset elastic force.

5. The adaptive positioning gripping device for non-standard parts processing according to claim 1, characterized in that, The cross-sections of the positioning hole (101) and the positioning protrusion (201) are both regular polygons, and they are arranged to increase in size from top to bottom.

6. The adaptive positioning gripping device for non-standard parts processing according to any one of claims 1 to 5, characterized in that, Also includes: A visual inspection unit (400) is disposed at the lower end of the inverted cone (220) for detecting the orientation of the non-standard part.

7. An industrial robot, characterized in that, The system includes a robot body, which has a robotic arm. The robotic arm is equipped with an adaptive positioning and gripping device for non-standard parts processing as described in any one of claims 1 to 6. The actuator of the robotic arm is connected to the base (100).

Images